Please use this identifier to cite or link to this item: https://doi.org/10.1109/IROS.2013.6696951
Title: Standing posture modeling and control for a humanoid robot
Authors: Ahmed, S.M.
Chew, C.M. 
Tian, B.
Issue Date: 2013
Source: Ahmed, S.M.,Chew, C.M.,Tian, B. (2013). Standing posture modeling and control for a humanoid robot. IEEE International Conference on Intelligent Robots and Systems : 4152-4157. ScholarBank@NUS Repository. https://doi.org/10.1109/IROS.2013.6696951
Abstract: This paper presents a novel approach employing nonlinear control for stabilization of standing posture for a humanoid robot using only hip joint. The robot is modeled as an acrobot where model parameters are estimated through adaptive algorithm. A 'non-collocated partial feedback' controller is applied. This is integrated with a linear feedback control, through LQR. Improved robustness to external push is demonstrated through evaluation in Webots simulator and on a physical humanoid robot, NUSBIP-III ASLAN. Performance comparison with other controllers verifies the effectiveness of the proposed control system. © 2013 IEEE.
Source Title: IEEE International Conference on Intelligent Robots and Systems
URI: http://scholarbank.nus.edu.sg/handle/10635/86081
ISBN: 9781467363587
ISSN: 21530858
DOI: 10.1109/IROS.2013.6696951
Appears in Collections:Staff Publications

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